Picture of a black hole

Strathclyde Open Access research that creates ripples...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of research papers by University of Strathclyde researchers, including by Strathclyde physicists involved in observing gravitational waves and black hole mergers as part of the Laser Interferometer Gravitational-Wave Observatory (LIGO) - but also other internationally significant research from the Department of Physics. Discover why Strathclyde's physics research is making ripples...

Strathprints also exposes world leading research from the Faculties of Science, Engineering, Humanities & Social Sciences, and from the Strathclyde Business School.

Discover more...

On-line adaptive control of robot manipulators using dynamic fuzzy neural networks

Gao, Yang and Er, M.J. and Leithead, W.E. and Leith, D.J. (2001) On-line adaptive control of robot manipulators using dynamic fuzzy neural networks. In: American Control Conference, 2001-06-25 - 2001-06-27.

Full text not available in this repository. (Request a copy from the Strathclyde author)

Abstract

This paper presents a robust Adaptive Fuzzy Neural Controller (AFNC) suitable for motion control of a multilink robot manipulator. The proposed controller has the following salient features: (1) dynamic fuzzy neural networks structure, i.e. fuzzy control rules can be generated or deleted automatically, (2) adaptive learning, (3) online learning of the robot dynamics, (4) fast learning speed, and (5) fast convergence of tracking error. Global stability of the system is established using Lyapunov approach. Computer simulation studies of a two-link robot manipulator demonstrate that excellent tracking performance can be achieved under external disturbances